Climbing attachment mechanism of steel wire rope flaw detection robot

Abstract

The utility model relates to the technical field of steel wire rope detection, and provides a climbing attachment mechanism of a steel wire rope flaw detection robot, which comprises a rack, a connecting rod, a plurality of attachment wheels and a plurality of telescopic cylinders, the attachment wheel comprises rolling wheels and an attachment plate, the rolling wheels are rotationally arranged on the connecting rods, and the two ends of each rolling wheel are each provided with one connecting rod; the attachment plate is in a long strip shape, is wound on the peripheral side of the roller and is detachably and fixedly connected with the roller, a matching groove is formed in the peripheral side of the attachment plate, and the length of the attachment plate is equal to the perimeter of the peripheral side of the roller. According to the utility model, the attachment wheel comprises the roller and the attachment plate, the specification of the matching groove on the peripheral side of the attachment wheel can be adjusted by replacing the attachment plate, and the attachment plate can be conveniently mounted on the roller between the two connecting rods by setting the attachment plate to be strip-shaped, so that the detection efficiency of the steel wire rope can be improved.

Description

Technical Field

[0001] This utility model relates to the field of wire rope inspection technology, and in particular to a climbing and attachment mechanism for a wire rope flaw detection robot. Background Technology

[0002] In industrial production and special equipment maintenance, wire ropes serve as critical load-bearing and transmission components, and their safety performance directly affects the stable operation of the entire system and the safety of personnel. However, with increasing usage time and the increasing complexity and change of the working environment, wire ropes inevitably suffer various types of damage. Among these, broken wires, as one of the most common forms of damage, pose a serious threat to the load-bearing capacity and service life of the wire rope. Therefore, developing efficient and accurate wire rope broken wire damage detection technologies and equipment is of great significance for ensuring production safety and preventing accidents.

[0003] The invention disclosed in CN116142344B is a multifunctional heavy-duty wire rope climbing robot, comprising: a frame, a tensioning device, a steering indexing adjustment device, a drive device, and functional mounting devices. The frame includes two sets of frames, each set of frames having three supporting steel frames. One side of the steering indexing adjustment device is connected to the tensioning device; the drive device is connected to the other side of the steering indexing adjustment device; the three functional mounting devices and the three sets of tensioning devices are alternately mounted on the six supporting steel frames. This multifunctional heavy-duty wire rope climbing robot, through the steering indexing adjustment device, allows the robot to adapt to wire ropes of different twist directions and specifications. The tensioning device and electric push rod enable the robot to grip wire ropes of different diameters. The drive device enables the robot to perform heavy-duty climbing in the reverse twist direction. Through the functional mounting devices, different functions can be selected, allowing the robot to perform tasks such as surveying, inspection, dust removal, and oiling on the wire rope.

[0004] In the above technical solution, in order to improve the load capacity of the climbing robot, a steering indexing adjustment device is set, and the roller in the drive device is set to be gear-shaped so that the gear-shaped roller meshes with the strand of the wire rope. However, different wire ropes have different strand outer diameters. When inspecting wire ropes of different specifications, different specifications of gear-shaped rollers need to be used. The replacement operation is relatively complicated and will reduce the inspection efficiency of the wire rope. Utility Model Content

[0005] In view of this, this utility model proposes a climbing attachment mechanism for a wire rope flaw detection robot. By changing the attachment plate, the attachment wheel can be adapted to wire ropes of different specifications. Moreover, the attachment plate is easy to disassemble and assemble, which helps to improve the detection efficiency of wire ropes.

[0006] The technical solution of this utility model is achieved as follows: This utility model provides a climbing and attachment mechanism for a wire rope flaw detection robot, including a frame, connecting rods, multiple attachment wheels, and multiple telescopic cylinders, wherein...

[0007] One end of the connecting rod is rotatably mounted on the frame;

[0008] The attachment wheel includes a roller and an attachment plate. The roller is rotatably mounted on the connecting rod, and each roller has a connecting rod at both ends. The attachment plate is elongated and is wrapped around the periphery of the roller and is detachably fixed to the roller. A matching groove is provided on the periphery of the attachment plate, and the length of the attachment plate is equal to the periphery of the roller.

[0009] The telescopic cylinder is rotatably mounted on the frame, and its output end is rotatably connected to the connecting rod. The multiple telescopic cylinders and the multiple attachment wheels correspond one-to-one.

[0010] Based on the above technical solutions, preferably, the roller includes a wheel body and a first engaging portion, and the attachment plate includes a plate body and a second engaging portion, wherein...

[0011] The wheel is rotatably mounted on the connecting rod;

[0012] The first snap-fit ​​portion is integrally formed on the wheel body;

[0013] The plate body is abutted against the circumferential side of the wheel body, and the matching groove is formed on the circumferential side of the plate body;

[0014] The second snap-fit ​​part is integrally formed on the plate and snaps into the first snap-fit ​​part.

[0015] More preferably, the first snap-fit ​​portion is a protrusion with a dovetail-shaped cross-section, and the second snap-fit ​​portion is a groove with a dovetail-shaped cross-section.

[0016] More preferably, the roller further includes a slot, and the attachment plate further includes a locking block, wherein,

[0017] The slot is formed through the first card-connecting part;

[0018] The card block is integrally formed within the second card engaging portion and engages with the card slot.

[0019] Based on the above technical solutions, preferably, the attachment plate includes a plate body and bolts, wherein,

[0020] The plate is abutted against the circumference of the roller, with a stepped hole at one end and a threaded hole at the other end.

[0021] The bolt is connected to the threaded hole by a threaded fit and abuts against the inner wall of the stepped hole.

[0022] Based on the above technical solutions, preferably, the attachment plate includes a plate body, bolts, and threaded sleeves, wherein,

[0023] The plate is abutted against the periphery of the roller, and a stepped hole is provided at one end;

[0024] The threaded sleeve is fixedly disposed at one end of the plate body away from the stepped hole;

[0025] The bolt is threaded into the sleeve and abuts against the inner wall of the stepped hole.

[0026] More preferably, the attachment plate further includes a reinforcing plate, which is fixedly disposed on the threaded sleeve and within the plate body, and its outer diameter is larger than that of the threaded sleeve.

[0027] More preferably, both the slot and the block have a dovetail-shaped cross-section.

[0028] Based on the above technical solutions, preferably, the connecting rod includes a first connecting plate, a second connecting plate, and a third connecting plate, wherein,

[0029] One end of the first connecting plate is rotatably mounted on the frame;

[0030] One end of the second connecting plate is rotatably mounted on the roller. The second connecting plate is parallel to the first connecting plate, and the distance between two second connecting plates connected to the same roller is greater than the distance between two corresponding first connecting plates.

[0031] The third connecting plate is integrally formed between the first connecting plate and the second connecting plate.

[0032] More preferably, the output end of the telescopic cylinder is rotatably disposed between two adjacent first connecting plates.

[0033] The climbing and attachment mechanism of the wire rope flaw detection robot of this utility model has the following advantages over the prior art:

[0034] (1) By setting the attachment wheel to include a roller and an attachment plate, the specifications of the matching groove on the periphery of the attachment wheel can be adjusted by replacing the attachment plate. By setting the attachment plate to a long strip shape, the attachment plate can be easily installed on the roller between the two connecting rods, which helps to improve the detection efficiency of the wire rope.

[0035] (2) By setting a first snap-fit ​​part, a slot, a second snap-fit ​​part, a block and a bolt, the snap-fit ​​cooperation of the first snap-fit ​​part and the second snap-fit ​​part, the snap-fit ​​cooperation of the slot and the block and the fixing of the bolt to both ends of the plate can not only improve the connection strength between the roller and the attachment plate, but also improve the convenience of the attachment plate disassembly and assembly operation.

[0036] (3) By setting up threaded sleeves and reinforcing plates, not only can the bolts be more firmly fixed to the plate, but the threaded sleeves can also be more firmly fixed to the plate, ensuring the normal use of the attachment wheel. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a perspective view of the climbing and attachment mechanism of a wire rope flaw detection robot according to this utility model;

[0039] Figure 2 This is an exploded view of the attachment wheel in the climbing attachment mechanism of a wire rope flaw detection robot according to this utility model.

[0040] Figure 3 This is a cross-sectional view of the first and second locking parts in the climbing and attachment mechanism of a wire rope flaw detection robot according to the present invention.

[0041] Figure 4 This is a cross-sectional view of the threaded hole in the climbing and attachment mechanism of a wire rope flaw detection robot according to this utility model.

[0042] Figure 5 This is a cross-sectional view of the threaded sleeve in the climbing and attachment mechanism of a wire rope flaw detection robot according to this utility model.

[0043] Figure 6 This is a perspective view of the connecting rod in the climbing and attachment mechanism of a wire rope flaw detection robot according to this utility model.

[0044] The components are: 1. Frame; 2. Connecting rod; 21. First connecting plate; 22. Second connecting plate; 23. Third connecting plate; 3. Attachment wheel; 31. Roller; 311. Wheel body; 312. First locking part; 313. Locking groove; 32. Attachment plate; 321. Plate body; 322. Second locking part; 323. Locking block; 324. Bolt; 325. Screw sleeve; 326. Reinforcing plate; 301. Matching groove; 302. Stepped hole; 303. Threaded hole; 4. Telescopic cylinder. Detailed Implementation

[0045] The technical solutions of this utility model will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0046] like Figure 1-6 As shown, the climbing and attachment mechanism of a wire rope flaw detection robot of this utility model includes a frame 1, a connecting rod 2, multiple attachment wheels 3 and multiple telescopic cylinders 4, which are used to carry a magnetic flux leakage detection module to climb on the wire rope for flaw detection.

[0047] A frame 1 is fitted onto a wire rope. One end of a connecting rod 2 is rotatably mounted on the frame 1. A telescopic cylinder 4 is rotatably mounted on the frame 1, and its output end is rotatably connected to the connecting rod 2. An attachment wheel 3 is rotatably mounted on the connecting rod 2. There are two sets of connecting rods 2, attachment wheels 3, and telescopic cylinders 4, with at least three in each set. The two sets of connecting rods 2, attachment wheels 3, and telescopic cylinders 4 are respectively located at both ends of the frame 1. Multiple connecting rods 2, attachment wheels 3, and telescopic cylinders 4 within the same set are arranged in a circumferential array around the axis of the wire rope. Multiple telescopic cylinders 4 and multiple attachment wheels 3 correspond one-to-one. Figure 1 As shown, by controlling multiple telescopic cylinders 4, multiple attachment wheels 3 can be made to abut against the side wall of the wire rope, thereby allowing the flaw detection robot to attach to the wire rope. In addition, with the drive motor driving the attachment wheels 3, the flaw detection robot can climb and move on the wire rope.

[0048] The attachment wheel 3 is used to abut against the side wall of the wire rope. Since the side wall of the wire rope is twisted, in order to improve the adhesion effect between the attachment wheel 3 and the side wall of the wire rope and improve the load capacity of the flaw detection robot, a matching groove 301 is opened on the side wall of the attachment wheel 3 to increase the contact area between the attachment wheel 3 and the wire rope, or to make the matching groove 301 mesh with the twisted strand.

[0049] Different specifications of wire ropes have different strand specifications. When testing wire ropes of different specifications, a matching groove 301 of the corresponding specification is required to adapt the attachment wheel 3 to the wire rope to be tested; however, if Figure 6 As shown, in order to improve the fixing firmness of the attachment wheel 3, the attachment wheel 3 needs to be set between the two connecting rods 2. This structure makes the replacement operation of the attachment wheel 3 inconvenient and affects the detection efficiency of the wire rope.

[0050] To solve the above problems, the structure of the attachment wheel 3 was modified, such as... Figure 6As shown, the attachment wheel 3 includes a roller 31 and an attachment plate 32. The roller 31 is rotatably mounted on the connecting rod 2. Each roller 31 has a connecting rod 2 at both ends. The attachment plate 32 is detachably fixed on the periphery of the roller 31. The matching groove 301 is opened on the periphery of the attachment plate 32. The attachment plate 32 is made of flexible materials such as rubber. The attachment plate 32 is long and can be rolled up. The length of the attachment plate 32 is equal to the periphery of the roller 31. After the attachment plate 32 is wound around the periphery of the roller 31, the attachment plate 32 and the roller 31 are fixed, which can realize the replacement of the matching groove 301 specification, greatly improving the convenience of replacing the attachment wheel 3 and the inspection efficiency of the wire rope.

[0051] like Figure 2 As shown, the roller 31 includes a wheel body 311, a first engaging portion 312, and a slot 313. The attachment plate 32 includes a plate body 321, a second engaging portion 322, and a locking block 323. The wheel body 311 is rotatably mounted on the connecting rod 2. The first engaging portion 312 is integrally formed on the wheel body 311. The plate body 321 abuts against the circumference of the wheel body 311. A matching groove 301 is formed on the circumference of the plate body 321. The second engaging portion 322 is integrally formed on the plate body 321 and engages with the first engaging portion 312. By utilizing the engaging cooperation between the second engaging portion 322 and the first engaging portion 312, quick assembly and disassembly of the plate body 321 and the wheel body 311 can be achieved. Figure 3 As shown, the first snap-fit ​​portion 312 is preferably a protrusion with a dovetail-shaped cross-section, and the second snap-fit ​​portion 322 is a groove with a dovetail-shaped cross-section.

[0052] A slot 313 is formed through the first engaging portion 312 to cut off the first engaging portion 312. A locking block 323 is integrally formed within the second engaging portion 322, and the locking block 323 engages with the slot 313. The slot 313 allows the end of the second engaging portion 322 away from the locking block 323 to slide into the end of the first engaging portion 312, thus facilitating the connection between the first and second engaging portions 312. Simultaneously, the cooperation between the locking block 323 and the slot 313 prevents the plate 321 from rotating on the wheel 311, improving the fixation strength between the plate 321 and the wheel 311. Figure 4 As shown, it is preferable that the cross-section of the card slot 313 and the cross-section of the card block 323 are both dovetail-shaped.

[0053] To reinforce the plate 321 and prevent it from detaching from the wheel 311 during use, bolts 324 are also provided in the attachment plate 32. These bolts 324 are used to connect and fix the two ends of the plate 321. Figure 4As shown, a stepped hole 302 is provided at one end of the plate 321 and a threaded hole 303 is provided at the other end. The bolt 324 is connected in the threaded hole 303 through threaded engagement and abuts against the inner wall of the stepped hole 302. This not only enables the connection between the two ends of the plate 321, but also prevents the bolt 324 from extending to the outside of the plate 321, ensuring the normal use of the device.

[0054] Because plate 321 is made of flexible material, when plate 321 is squeezed against the side wall of the wire rope, the threaded hole 303 will deform, causing bolt 324 to come out of the threaded hole 303. To solve this problem, a threaded sleeve 325 and a reinforcing plate 326 are provided in the attachment plate 32, such as... Figure 5 As shown, the threaded hole 303 is no longer opened on the plate 321. The threaded sleeve 325 is embedded and fixed in the plate 321 at the position where the threaded hole 303 was originally opened. The threaded sleeve 325 has a threaded hole, so that the bolt 324 is connected in the threaded sleeve 325 through threaded engagement and abuts against the inner wall of the stepped hole 302.

[0055] The reinforcing plate 326 is fixedly mounted on the threaded sleeve 325 and is also embedded and fixedly mounted inside the plate body 321. The outer diameter of the reinforcing plate 326 is larger than the outer diameter of the threaded sleeve 325, thereby preventing the threaded sleeve 325 from detaching from the plate body 321 and reinforcing the threaded sleeve 325.

[0056] like Figure 6 As shown, the connecting rod 2 includes a first connecting plate 21, a second connecting plate 22, and a third connecting plate 23. One end of the first connecting plate 21 is rotatably mounted on the frame 1, and one end of the second connecting plate 22 is rotatably mounted on the roller 31. The second connecting plate 22 is parallel to the first connecting plate 21. The third connecting plate 23 is integrally formed between the first connecting plate 21 and the second connecting plate 22. The distance between the two second connecting plates 22 connected to the same roller 31 is greater than the distance between the two first connecting plates 21 connected to the second connecting plate 22. This reduces the overall space occupied by the connecting rod 2 and avoids interference and collision with other components when the connecting rod 2 rotates.

[0057] To improve the connection stability between the telescopic cylinder 4 and the connecting rod 2, it is preferable to allow the output end of the telescopic cylinder 4 to be rotatably positioned between two adjacent first connecting plates 21.

[0058] The method of using the climbing and attachment mechanism of the steel wire rope flaw detection robot of this utility model is as follows:

[0059] When installing the attachment plate 32, first insert the end of the plate 321 away from the locking block 323 into the locking groove 313, and then put the second locking part 322 of the plate 321 away from the locking block 323 onto one end of the first locking part 312. Then, by pulling the end of the plate 321 away from the locking block 323, the plate 321 is wound around the circumference of the wheel 311. Next, the locking block 323 is pressed into the locking groove 313. Finally, the bolt 324 is inserted into the stepped hole 302 and fixed to the threaded hole 303 or the threaded sleeve 325, so that the bolt 324 abuts against the inner wall of the stepped hole 302. When it is necessary to disassemble the attachment plate 32, the above steps are reversed.

[0060] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A climbing and attachment mechanism for a wire rope flaw detection robot, characterized in that: It includes a frame (1), connecting rods (2), multiple attachment wheels (3), and multiple telescopic cylinders (4), among which, One end of the connecting rod (2) is rotatably mounted on the frame (1); The attachment wheel (3) includes a roller (31) and an attachment plate (32). The roller (31) is rotatably mounted on the connecting rod (2), and each roller (31) has a connecting rod (2) at both ends. The attachment plate (32) is long and narrow, and is wound around the periphery of the roller (31) and is detachably fixed to the roller (31). A matching groove (301) is provided on the periphery of the attachment plate (32), and the length of the attachment plate (32) is equal to the periphery of the roller (31). The telescopic cylinder (4) is rotatably mounted on the frame (1), and its output end is rotatably connected to the connecting rod (2). The multiple telescopic cylinders (4) and the multiple attachment wheels (3) correspond one-to-one.

2. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 1, characterized in that: The roller (31) includes a wheel body (311) and a first engaging portion (312), and the attachment plate (32) includes a plate body (321) and a second engaging portion (322), wherein, The wheel (311) is rotatably mounted on the connecting rod (2); The first snap-fit ​​portion (312) is integrally formed on the wheel body (311); The plate (321) is abutted against the circumferential side of the wheel (311), and the matching groove (301) is formed on the circumferential side of the plate (321); The second snap-fit ​​part (322) is integrally formed on the plate (321) and snaps into the first snap-fit ​​part (312).

3. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 2, characterized in that: The first snap-fit ​​portion (312) is a protrusion with a dovetail-shaped cross-section, and the second snap-fit ​​portion (322) is a groove with a dovetail-shaped cross-section.

4. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 3, characterized in that: The roller (31) further includes a slot (313), and the attachment plate (32) further includes a locking block (323), wherein, The slot (313) is formed through the first latching part (312); The card block (323) is integrally formed in the second carding part (322) and engages with the card slot (313).

5. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 1, characterized in that: The attachment plate (32) includes a plate body (321) and bolts (324), wherein, The plate (321) is abutted against the periphery of the roller (31), with a stepped hole (302) at one end and a threaded hole (303) at the other end; The bolt (324) is connected to the threaded hole (303) by a threaded fit and abuts against the inner wall of the stepped hole (302).

6. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 1, characterized in that: The attachment plate (32) includes a plate body (321), bolts (324), and threaded sleeves (325), wherein, The plate (321) is abutted against the periphery of the roller (31), and a stepped hole (302) is provided at one end; The threaded sleeve (325) is fixedly disposed at one end of the plate (321) away from the stepped hole (302); The bolt (324) is threaded into the sleeve (325) and abuts against the inner wall of the stepped hole (302).

7. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 6, characterized in that: The attachment plate (32) also includes a reinforcing plate (326), which is fixedly disposed on the threaded sleeve (325) and inside the plate body (321), and its outer diameter is larger than that of the threaded sleeve (325).

8. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 4, characterized in that: Both the slot (313) and the block (323) have a dovetail-shaped cross-section.

9. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 1, characterized in that: The connecting rod (2) includes a first connecting plate (21), a second connecting plate (22), and a third connecting plate (23), wherein, One end of the first connecting plate (21) is rotatably mounted on the frame (1); One end of the second connecting plate (22) is rotatably mounted on the roller (31). The second connecting plate (22) is parallel to the first connecting plate (21), and the distance between two second connecting plates (22) connected to the same roller (31) is greater than the distance between two corresponding first connecting plates (21). The third connecting plate (23) is integrally formed between the first connecting plate (21) and the second connecting plate (22).

10. The climbing and attachment mechanism of a wire rope flaw detection robot as described in claim 9, characterized in that: The output end of the telescopic cylinder (4) is rotatably positioned between two adjacent first connecting plates (21).

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